Spray gun trajectory conversion and differential motion of robot based on moving frame method | |
Zhang, Shu-Zhen1; Kong, Min-Xiu2; Yang, Ping1; Li, Chun-Ling1 | |
2014-10-28 | |
发表期刊 | Shanghai Jiaotong Daxue Xuebao/Journal of Shanghai Jiaotong University |
ISSN | 10062467 |
卷号 | 48页码:5-8 |
摘要 | For spray gun motion of the robot, based on the moving frame and exterior differentiation the relationship between the frames of spray trajectory on surface and the guns is established, the motion formula of the moving frames of spray trajectory and the guns are deduced, completely invariant expressions between spraying trajectory and tools one are obtained, by comparison differential movement of the robot on the moving frame and the gun frames motion, relations expression of components of micro-rotation and micro-translation and curvature and torsion of the guns trajectory are obtained, in order to realize conversion from the spray trajectory to the guns orientation and one and speed control in Cartesian space provides a new method. ©, 2014, Shanghai Jiao Tong University. All right reserved. |
关键词 | Robots Trajectories Cartesian Space Differential motion Microrotation Moving frame Relations expressions Spray trajectory |
收录类别 | EI |
语种 | 中文 |
出版者 | Shanghai Jiao Tong University, 2200 Xietu Rd no.25,, Shanghai, 200032, China |
EI入藏号 | 20151500741860 |
EI主题词 | Spray guns |
EI分类号 | 731.5 Robotics |
来源库 | Compendex |
分类代码 | 731.5 Robotics |
文献类型 | 期刊论文 |
条目标识符 | https://ir.lut.edu.cn/handle/2XXMBERH/113537 |
专题 | 机电工程学院 高等教育研究所(教学质量监督与评估工作办公室、本科教学督导委员会研究生督导委员会) |
作者单位 | 1.College of Mechano-Electronic Engineering, Lanzhou University of Technology, Lanzhou; 730050, China; 2.Robot Research Institute, Harbin Institute of Technology, Harbin; 150080, China |
第一作者单位 | 兰州理工大学 |
第一作者的第一单位 | 兰州理工大学 |
推荐引用方式 GB/T 7714 | Zhang, Shu-Zhen,Kong, Min-Xiu,Yang, Ping,et al. Spray gun trajectory conversion and differential motion of robot based on moving frame method[J]. Shanghai Jiaotong Daxue Xuebao/Journal of Shanghai Jiaotong University,2014,48:5-8. |
APA | Zhang, Shu-Zhen,Kong, Min-Xiu,Yang, Ping,&Li, Chun-Ling.(2014).Spray gun trajectory conversion and differential motion of robot based on moving frame method.Shanghai Jiaotong Daxue Xuebao/Journal of Shanghai Jiaotong University,48,5-8. |
MLA | Zhang, Shu-Zhen,et al."Spray gun trajectory conversion and differential motion of robot based on moving frame method".Shanghai Jiaotong Daxue Xuebao/Journal of Shanghai Jiaotong University 48(2014):5-8. |
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